This disclosure relates to systems, media, and methods for mitigating measurement drift and improving IMU odometry measurement. In an embodiment, the system may perform operations including receiving first sensor data from at least one motion sensor; receiving 3-dimensional (3-D) motion data based on motion detected by at least one camera;
inputting model input data into a machine learning model configured to generate at least one vector, the model input data being based on the received first sensor data and the received 3-D motion data; and apply the at least one vector as an offset.